A square target grasping device for industrial robots

Abstract

The present invention provides a square target grabbing device for an industrial robot, wherein a first clamping plate is connected to one side of a positioning block through a first screw, a first semicircular groove is provided on the side of the positioning block, a second semicircular groove is provided on the side of the first clamping plate, a positioning rod is provided between the first semicircular groove and the second semicircular groove, a positioning groove is provided on the side of the first clamping plate, and a positioning plate is connected to the positioning groove through a second screw; both ends of the positioning block are connected to a second clamping plate through a third screw, a third semicircular groove is provided on the end face of the positioning block, a fourth semicircular groove is provided on the side of the second clamping plate, an adjusting cross bar is provided between the third semicircular groove and the fourth semicircular groove, and a first grabbing plate is fixed to one end of the adjusting cross bar; a bracket is fixed to the positioning block, a cylinder is provided in the bracket, and a second grabbing plate is fixed to the output end of the cylinder. The present invention can adjust the grabbing width, can grab targets of different sizes, and has strong versatility.

Description

Technical Field

[0001] The invention relates to a clamping device, and in particular discloses a square target grasping device for an industrial robot. Background Art

[0002] Industrial robots refer to multi-joint manipulators or multi-degree-of-freedom robots for the industrial field, which are mainly used for handling, loading and unloading and other operations.

[0003] A clamping and grasping device is usually provided at the output end of the industrial robot for grasping and clamping the target object. In the prior art, different clamping and grasping devices are required to cooperate with the industrial robot to realize the operations of handling, loading and unloading for objects of different specifications and sizes. The investment cost of the device is high. When it is used for objects of different sizes, different clamping and grasping devices need to be replaced, and the operation is cumbersome. Summary of the invention

[0004] Based on this, it is necessary to provide a square target grasping device for an industrial robot to address the existing technical problems. The grasping width can be adjusted, and square targets of different sizes can be grasped, with strong versatility.

[0005] To solve the problems of the prior art, the present invention discloses a square target grasping device for an industrial robot, comprising a positioning block, one side of the positioning block is connected to a first clamping plate by a first screw, a first semicircular groove is provided on a side of the positioning block close to the first clamping plate, a second semicircular groove is provided on a side of the first clamping plate close to the positioning block, a positioning rod is provided between the first semicircular groove and the second semicircular groove, a positioning groove intersecting with the second semicircular groove is provided on a side of the first clamping plate away from the positioning block, a positioning notch is provided on the side of the positioning rod, a positioning plate is connected to the positioning groove by a second screw, and the positioning plate is clamped in the positioning notch;

[0006] Both ends of the positioning block are connected to a second clamping plate through a third screw, and a third semicircular groove is provided on both end surfaces of the positioning block, and a fourth semicircular groove is provided on the side of each second clamping plate close to the positioning block, and an adjusting cross bar is provided between the two sets of opposite third semicircular grooves and fourth semicircular grooves, and a first grabbing plate is fixed to one end of the two adjusting cross bars close to the first clamping plate;

[0007] A bracket is fixed to the side of the positioning block away from the first clamping plate, a cylinder is provided in the bracket, a second grabbing plate parallel to and opposite to the first grabbing plate is fixed to the output end of the cylinder, a first buffer layer is fixed to the side of the first grabbing plate close to the second grabbing plate, and a second buffer layer is fixed to the side of the second grabbing plate close to the first grabbing plate.

[0008] Furthermore, a photoelectric sensor is fixed on the surface of the positioning block, and a sensing sheet matching the photoelectric sensor is fixed on the side of the positioning rod.

[0009] Furthermore, the adjustment cross bar is a hollow aluminum tube.

[0010] Furthermore, a plurality of recessed grooves are provided on the side of the first grabbing plate away from the second grabbing plate.

[0011] Furthermore, the first buffer layer and the second buffer layer are both foam layers.

[0012] Furthermore, the cylinder is fixed to a side of the bracket close to the first grabbing plate, and the second grabbing plate is located directly below the positioning block.

[0013] Furthermore, a pipe clamp assembly is connected between the two adjusting cross bars.

[0014] Furthermore, the pipe clamp assembly includes a cover plate and a base plate connected by a fourth screw, the bottom surface of the cover plate is provided with two fifth semicircular grooves, the top surface of the base plate is provided with two sixth semicircular grooves respectively located under the two fifth semicircular grooves, and the two adjusting cross bars are respectively located between the two groups of fifth semicircular grooves and the sixth semicircular grooves.

[0015] The beneficial effects of the present invention are as follows: the present invention discloses a square target grasping device for an industrial robot, the connection structure between the present invention and the robot output positioning rod is stable and reliable, and can provide a good basis for the grasping operation. After loosening the third screw, the position between the adjusting cross bar and the positioning block can be controlled to adjust the grasping width, so as to grasp square targets of different sizes. The present invention has strong versatility, and is easy to operate when grasping targets of different sizes. The investment cost of the device is low. By setting a buffer layer, it can ensure that the square target is not damaged during grasping, and can also effectively improve the stability of the grasping action to prevent the square target from falling during the grasping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the decomposition structure of the present invention.

[0018] Figure 3 This is a schematic diagram of the decomposition structure from another perspective of the present invention.

[0019] The accompanying drawings are marked as: positioning block 10, first semicircular groove 11, third semicircular groove 12, photoelectric sensor 13, first clamping plate 20, first screw 201, second semicircular groove 21, positioning groove 22, positioning plate 23, second screw 231, positioning rod 30, positioning notch 31, sensor plate 32, second clamping plate 40, third screw 401, fourth semicircular groove 41, adjusting cross bar 50, first grabbing plate 51, first buffer layer 511, recessed groove 52, bracket 60, cylinder 61, second grabbing plate 62, second buffer layer 621, pipe clamp assembly 70, fourth screw 701, cover plate 71, fifth semicircular groove 711, bottom plate 72, sixth semicircular groove 721. DETAILED DESCRIPTION

[0020] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0021] refer to Figures 1 to 3 .

[0022] The embodiment of the present invention discloses a square target grasping device for an industrial robot, comprising a positioning block 10, one side of the positioning block 10 is connected to a first clamping plate 20 by a first screw 201, a first semicircular groove 11 is provided on the side of the positioning block 10 close to the first clamping plate 20, a second semicircular groove 21 is provided on the side of the first clamping plate 20 close to the positioning block 10, a positioning rod 30 is clamped between the first semicircular groove 11 and the second semicircular groove 21, and the radius of the positioning rod 30 is respectively the same as the radius of the first semicircular groove 11 and the radius of the second semicircular groove 21. The radii are equal. A positioning groove 22 intersecting with the second semicircular groove 21 is provided on the side of the first clamping plate 20 away from the positioning block 10, that is, the groove bottom of the positioning groove 22 is connected to the second semicircular groove 21. A positioning notch 31 is provided on the side of the positioning rod 30. A positioning plate 23 is connected to the positioning groove 22 by a second screw 231. The positioning plate 23 is clamped in the positioning notch 31, which can effectively limit the position between the positioning rod 30 and the positioning block 10 and the first clamping plate 20, and can avoid the positioning rod 30 from being offset and tilted. The clamping structure is stable and reliable.

[0023] Both ends of the positioning block 10 are connected to a second clamping plate 40 through a third screw 401, and a third semicircular groove 12 is provided on both end surfaces of the positioning block 10, and a fourth semicircular groove 41 is provided on the side of each second clamping plate 40 close to the positioning block 10, and an adjusting cross bar 50 is clamped between the two opposite groups of third semicircular grooves 12 and fourth semicircular grooves 41, and the third semicircular grooves 12 and fourth semicircular grooves 41 facing each other are a group, and the radius of the adjusting cross bar 50 is equal to the radius of the third semicircular groove 12 and the radius of the fourth semicircular groove 41, respectively, and the two adjusting cross bars 50 are parallel to each other, and the same first grabbing plate 51 is fixed to one end of the two adjusting cross bars 50 close to the first clamping plate 20;

[0024] A bracket 60 is fixed to the side of the positioning block 10 away from the first clamping plate 20, and a cylinder 61 is provided in the bracket 60. The casing of the cylinder 61 is fixed in the bracket 60, and a second grabbing plate 62 parallel to the first grabbing plate 51 is fixed to the output end of the cylinder 61. A first buffer layer 511 is fixed to the side of the first grabbing plate 51 close to the second grabbing plate 62, and a second buffer layer 621 is fixed to the side of the second grabbing plate 62 close to the first grabbing plate 51, which can improve the stability of the grabbing action and protect square targets at the same time, avoiding damage to square targets that are easily deformed, such as cartons.

[0025] The positioning rod 30 can be the output shaft of an industrial robot such as a SCARA robot. The positioning block 10 cooperates with the first clamping plate 20 and the positioning block to achieve a reliable positioning connection effect for the positioning rod 30. The SCARA robot adjusts the position of the positioning block 10 by driving the output shaft. When in use, the SCARA robot adjusts the position of the positioning block 10 through the positioning rod 30 until the first grab plate 51 and the second grab plate 62 are respectively located on opposite sides of the square target object, and the cylinder 61 drives the second grab plate 62 to move close to the first grab plate 51, and the first grab plate 51 and the second grab plate 62 clamp the square target object to achieve grabbing. When it is necessary to grab square targets of different sizes, loosen the third screw 401 to move the second clamping plate 40 away from the positioning block 10, and the position of the two adjustment cross bars 50 relative to the positioning block 10 can be moved, thereby adjusting the relative position of the second grab plate 62 and the first grab plate 51 under the critical state, and can achieve grabbing of square targets of different sizes, with strong versatility.

[0026] A semicircular groove in this context is a groove structure whose cross section is a semicircle.

[0027] In this embodiment, a photoelectric sensor 13 is fixed to the surface of the positioning block 10, and a sensing sheet 32 ​​matching the photoelectric sensor 13 is fixed on the side of the positioning rod 30. Preferably, the photoelectric sensor 13 is a slot-type photoelectric switch. When the positioning rod 30 is restricted between the first semicircular groove 11 and the second semicircular groove 21, the sensing sheet 32 ​​is located in the sensing range of the photoelectric sensor 13. In order to avoid a malfunction when the positioning rod 30 is separated from the positioning block 10, the photoelectric sensor 13 can detect the separation of the sensing sheet 32, thereby ensuring the reliability of the grabbing and transporting action and avoiding dry operation.

[0028] In this embodiment, the adjustment cross bar 50 is a hollow aluminum tube, which can improve the firmness of the positioning block 10 and the second clamping plate 40 clamping it, and at the same time can significantly reduce the weight of the entire device to achieve a lightweight design.

[0029] In this embodiment, a plurality of recessed grooves 52 are provided on the side of the first grabbing plate 51 away from the second grabbing plate 62 . The recessed grooves 52 can effectively reduce the weight of the first grabbing plate 51 while ensuring that the structure is stable and firm.

[0030] In this embodiment, the first buffer layer 511 and the second buffer layer 621 are both foam layers. The first buffer layer 511 and the second buffer layer 621 can also be a rubber layer, a sponge layer or other layer structure with soft elasticity, which can effectively protect the square target object.

[0031] In this embodiment, the cylinder 61 is fixed to the side of the bracket 60 close to the first grabbing plate 51, the output end of the cylinder 61 is facing the first grabbing plate 51, the second grabbing plate 62 is located directly below the positioning block 10, the cylinder 61 is in an extended state, and the axial extension line of the positioning rod 30 is located on the plane where the second grabbing plate 62 is located, which can effectively ensure that the center of gravity of the overall grabbing device is located near the axial center of the positioning rod 30, thereby effectively improving the stability of the grabbing and transferring action.

[0032] In this embodiment, a tube clamp assembly 70 is connected between the two adjusting cross bars 50. The tube clamp assembly 70 can effectively limit the position between the two adjusting cross bars 50. When the adjusting cross bars 50 are relatively long, the rigidity and stability of the overall structure can be effectively improved.

[0033] Based on the above embodiment, the pipe clamp assembly 70 includes a cover plate 71 and a base plate 72 connected by a fourth screw 701, the bottom surface of the cover plate 71 is provided with two fifth semicircular grooves 711, and the top surface of the base plate 72 is provided with two sixth semicircular grooves 721 respectively located under the two fifth semicircular grooves 711, the radius of the adjusting cross bar 50 is respectively equal to the radius of the fifth semicircular groove 711 and the radius of the sixth semicircular groove 721, and the two adjusting cross bars 50 are respectively located between the two groups of fifth semicircular grooves 711 and the sixth semicircular grooves 721, and the opposite fifth semicircular grooves 711 and sixth semicircular grooves 721 form a group.

[0034] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A square target grasping device for an industrial robot, characterized in that: The invention comprises a positioning block (10), one side of which is connected to a first clamping plate (20) by a first screw (201), a first semicircular groove (11) is provided on a side of the positioning block (10) close to the first clamping plate (20), a second semicircular groove (21) is provided on a side of the first clamping plate (20) close to the positioning block (10), a positioning rod (30) is provided between the first semicircular groove (11) and the second semicircular groove (21), a locking groove (22) intersecting with the second semicircular groove (21) is provided on a side of the first clamping plate (20) away from the positioning block (10), a locking notch (31) is provided on the side of the positioning rod (30), a locking plate (23) is connected to the locking groove (22) by a second screw (231), and the locking plate (23) is locked in the locking notch (31); Both ends of the positioning block (10) are connected to a second clamping plate (40) through a third screw (401), and a third semicircular groove (12) is provided on both end surfaces of the positioning block (10), and each of the second clamping plates (40) is provided with a fourth semicircular groove (41) on the side surface close to the positioning block (10), and an adjusting cross bar (50) is provided between two sets of opposite third semicircular grooves (12) and fourth semicircular grooves (41), and a first grabbing plate (51) is fixed to one end of the two adjusting cross bars (50) close to the first clamping plate (20); A bracket (60) is fixed to a side of the positioning block (10) away from the first clamping plate (20), a cylinder (61) is provided in the bracket (60), a second grabbing plate (62) parallel to and opposite to the first grabbing plate (51) is fixed to the output end of the cylinder (61), a first buffer layer (511) is fixed to the side of the first grabbing plate (51) close to the second grabbing plate (62), and a second buffer layer (621) is fixed to the side of the second grabbing plate (62) close to the first grabbing plate (51); A photoelectric sensor (13) is fixed on the surface of the positioning block (10), and a sensing sheet (32) matching the photoelectric sensor (13) is fixed on the side of the positioning rod (30); The adjusting cross bar (50) is a hollow aluminum tube.

2. A square target grasping device for an industrial robot according to claim 1, characterized in that: A plurality of recessed grooves (52) are provided on the side of the first grabbing plate (51) away from the second grabbing plate (62).

3. A square target grasping device for an industrial robot according to claim 1, characterized in that: The first buffer layer (511) and the second buffer layer (621) are both foam layers.

4. A square target grasping device for an industrial robot according to claim 1, characterized in that: The cylinder (61) is fixed to a side of the bracket (60) close to the first grabbing plate (51), and the second grabbing plate (62) is located directly below the positioning block (10).

5. A square target grasping device for an industrial robot according to claim 1, characterized in that: A pipe clamp assembly (70) is connected between the two adjusting cross bars (50).

6. A square object grasping device for an industrial robot according to claim 5, characterized in that: The pipe clamp assembly (70) comprises a cover plate (71) and a bottom plate (72) connected by a fourth screw (701); the bottom surface of the cover plate (71) is provided with two fifth semicircular grooves (711); the top surface of the bottom plate (72) is provided with two sixth semicircular grooves (721) respectively located under the two fifth semicircular grooves (711); and the two adjusting cross bars (50) are respectively located between the two groups of the fifth semicircular grooves (711) and the sixth semicircular grooves (721).

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